CN109634292A - A kind of oblique photograph aerial surveying camera system - Google Patents
A kind of oblique photograph aerial surveying camera system Download PDFInfo
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- CN109634292A CN109634292A CN201811468539.4A CN201811468539A CN109634292A CN 109634292 A CN109634292 A CN 109634292A CN 201811468539 A CN201811468539 A CN 201811468539A CN 109634292 A CN109634292 A CN 109634292A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims abstract description 16
- 230000014759 maintenance of location Effects 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 238000013481 data capture Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000007306 turnover Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Studio Devices (AREA)
Abstract
The present invention provides a kind of oblique photograph aerial surveying camera systems, including an inclination aerial surveying camera and control system, the inclination aerial surveying camera includes holder, the support plate on holder top is set, the controller in portion on the supporting plate is set, the host computer of support plate lower part is set, and the bottom of holder is provided with tilt rotation component, video camera on tilt rotation component is set, gyroscope and acceleration transducer are embedded on the video camera, the control system includes data collecting card, attitude algorithm module and attitude monitoring module, main control module and benchmark comparison module are provided in the controller, the present invention passes through the monitoring to flight attitude, the posture of flight is corrected in real time, and video camera is carried out to overturn certain angle, the flight for allowing to keep relative stability.
Description
Technical field
The present invention relates to a kind of photographic apparatus technology, a kind of oblique photograph aerial surveying camera system in particular.
Background technique
Large scene outdoor scene threedimensional model based on inclination image can provide richer geography information for user, more friendly
User experience at home and abroad will be widely welcomed.But the technology develops slowly, Difficulty, is largely determined by acquisition inclination
The inclination aerial surveying camera of image.
Patent No.: " CN201810093695.0 " discloses a kind of oblique photograph aerial surveying camera device, including upper housing, under
Shell, camera group and functional module elements between the upper housing and lower case are set；Below the lower case
The fixing groove of protrusion is provided with to accommodate the camera group；The camera group include curtain be parallel to it is described under
The positive photography/videography head of housing face and with four canted shot heads that the positive photography/videography headring week is set；Described inclines
The angle of the plane of the curtain of oblique camera and the lower case is α, and 30 °≤α≤45 °.
The camera group layout of above-mentioned oblique photograph aerial surveying camera device is just being taken the photograph 4 inclined 5 cameras using 1 and is being arranged in
It on same plane, shoots respectively vertically downward and all around, flight 5 times workloads original in this way, flight,
Meanwhile the compact coordination of camera lens layout type has been reequiped, it is independent of each other, effectively reduces housing area, so as to alleviator
Overall weight.Other 5 cameras expose simultaneously, and the later data processing obtained in this way is simple.The canted shot photograph of acquisition passes through
After crossing data processing, it can be fabricated to outdoor scene threedimensional model, outdoor scene threedimensional model can really reflect the geographical letter of target area
Cease status, model accuracy is high, can in smart city is built, in territory land management data, data of mineral and land resources
Plan, examination & approval；In Immovable Property Registration；In public security emergency, traffic, the application such as water conservancy.
Among the above, intelligence meets opposite smooth flight, however, for some areas with mountainous areas or more highlands
Domain, flight can not be able to satisfy relatively flat steady flight, so even 5 cameras of setting, are also unable to satisfy the needs of its shooting.
Summary of the invention
In view of this, the main purpose of the present invention is to provide a kind of oblique photograph aerial surveying camera systems.
The concrete scheme that it is used is as follows:
A kind of oblique photograph aerial surveying camera system, including an inclination aerial surveying camera and control system,
The inclination aerial surveying camera includes holder, and the support plate on holder top is arranged in, and the controller in portion on the supporting plate is arranged, if
The host computer in support plate lower part is set, and the bottom of holder is provided with tilt rotation component, is arranged in tilt rotation component
On video camera, be embedded with gyroscope and acceleration transducer on the video camera,
The control system includes data collecting card, attitude algorithm module and attitude monitoring module,
Main control module and benchmark comparison module are provided in the controller,
The data collecting card acquires the real time data of gyroscope and acceleration transducer according to period of time T；
The attitude algorithm module loads parameter and configuration data capture card from the database of setting, reads in data collecting card
Two kinds of separate storages real time data, and two bursts of analog signals are converted by the real time data of two kinds of separate storages, through too low
Bandpass filter and high-pass filter merge two bursts of analog signals, obtain the preliminary of inclination aerial surveying camera using analog simulation
Attitude orientation；
The attitude monitoring module is called attitude algorithm module by data-processing interface by main control module, and according to setting
The monitoring parameters configuration for setting module setting carries out secondary calculating to the preliminary attitude orientation that attitude algorithm module obtains, and obtains posture
Correct data in orientation；
The attitude orientation amendment data of more than the benchmark comparison module one cycle T are passed through as reference data by main control module
Data-processing interface obtains the attitude orientation amendment data that monitored attitude monitoring module obtains and is compared with reference data
It is right, it is determined whether video camera is overturn, perhaps determine whether to carry out attitude rectification or determine whether to video camera into
Whether attitude rectification is carried out while row overturning.
Further, the data collecting card is connect with gyroscope and acceleration transducer respectively, the data collecting card
It is connect with attitude algorithm module, the attitude algorithm module is connect with attitude monitoring module, the attitude monitoring module and control
Device connection.
Further, the tilt rotation component includes tilt rotation frame, is arranged in tilt rotation lower portion two sides
Overturning motor, overturn and be provided with rotation connecting shaft on motor, rotate and be provided with rotation in connecting shaft and adjust ruler, which is adjusted
It is provided with the equivalent rotation adjustment hole of spacing on ruler, rotates in adjustment hole and is provided with rotation adjusting rod, the one of the rotation adjusting rod
End is connected on the upper junction plate of camera mount upper end setting, and the bottom of the tilt rotation frame is provided with tilt rotation company
Fishplate bar, the tilt rotation connecting plate and the lower connecting plate that camera mount bottom is arranged are hinged.
Further, it is provided with anticollision pedestal between the rotation connecting shaft and tilt rotation frame, which will
Rotation connects axial tilt rotation frame outer end protrusion, prevents from contacting with camera mount.
Further, the rotational angle of the tilt rotation frame is 0~180 °, and before the top of tilt rotation frame
Limit plate is arranged in middle section afterwards.
Further, the upper and lower ends of the camera mount middle section are respectively arranged with limited block, the limited block with
Limit plate matching.
Further, the middle section of the holder is provided with a mounting plate, and the tilt rotation component setting is being installed
On plate.
Further, the host computer is connect by wireless receiving module with controller, and the controller is driven by motor
Dynamic model block is connect with overturning motor.
A turnover device is arranged in the present invention, by the gyroscope and acceleration transducer being arranged on video camera, using adopting
Truck acquires the real time data of gyroscope and acceleration transducer, obtains preliminary attitude orientation by attitude algorithm module, then lead to
It crosses attitude monitoring module and obtains its attitude orientation amendment data, the attitude orientation amendment data of the above cycle T are as base value
According to obtaining the attitude orientation that monitored attitude monitoring module obtains by data-processing interface by main control module and correct data simultaneously
It is compared with reference data, it is determined whether Yao Jinhang attitude rectification, or determine whether to overturn video camera.
The present invention corrects the posture of flight by the monitoring to flight attitude in real time, and to video camera into
Row overturns certain angle, the flight for allowing to keep relative stability.
Detailed description of the invention
Fig. 1 is the circuit theory schematic diagram of control system of the invention.
Fig. 2 is the structural schematic diagram that aerial surveying camera is tilted in the present invention；
Fig. 3 is the structural schematic diagram of tilt rotation component in the present invention；
Fig. 4 is the structural schematic diagram that tilt rotation component overturns an angle when implementing in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A turnover device is arranged in the present invention, by the gyroscope and acceleration transducer being arranged on video camera, using adopting
Truck acquires the real time data of gyroscope and acceleration transducer, obtains preliminary attitude orientation by attitude algorithm module, then lead to
It crosses attitude monitoring module and obtains its attitude orientation amendment data, the attitude orientation amendment data of the above cycle T are as base value
According to obtaining the attitude orientation that monitored attitude monitoring module obtains by data-processing interface by main control module and correct data simultaneously
It is compared with reference data, it is determined whether Yao Jinhang attitude rectification, or determine whether to overturn video camera.The present invention
By the monitoring to flight attitude, the posture of flight is corrected in real time, and video camera is carried out to overturn certain angle
Degree, the flight for allowing to keep relative stability.
Therefore, referring to figs. 1 to Fig. 4, the present invention provides a kind of oblique photograph aerial surveying camera systems, including an inclination aerial surveying camera
And control system, the inclination aerial surveying camera includes holder 2, and the support plate 7 on 2 top of holder is arranged in, and the support plate 7 is provided with
Several, fix down through bolt or screw rod, there are certain gap between each support plate 7, are used in gap
Installation or fixed different component, reduce the volume of whole device, are conducive to fly.The control on 7 top of support plate is set
Device 8, is arranged in the host computer 6 of 7 lower part of support plate, and the middle section of the holder 2 is provided with a mounting plate 1, tilt rotation group
Part is arranged on mounting plate 1.Video camera 4 on tilt rotation component is set, is provided with several cameras on the video camera 4
Head, in the present invention, at least provided with the camera head group of a positive fourth officer, in this way, multiple angles can be obtained with flight not
Same data.
It is embedded with gyroscope and acceleration transducer on the video camera 4,
The control system includes data collecting card, attitude algorithm module and attitude monitoring module,
Main control module and benchmark comparison module are provided in the controller,
The data collecting card acquires the real time data of gyroscope and acceleration transducer according to period of time T；In the present invention,
One period of time T most preferably 3S or 5S,
The attitude algorithm module loads parameter and configuration data capture card from the database of setting, reads in data collecting card
Two kinds of separate storages real time data, and two bursts of analog signals are converted by the real time data of two kinds of separate storages, through too low
Bandpass filter and high-pass filter merge two bursts of analog signals, obtain the preliminary of inclination aerial surveying camera using analog simulation
Attitude orientation；
The attitude monitoring module is called attitude algorithm module by data-processing interface by main control module, and according to setting
The monitoring parameters configuration for setting module setting carries out secondary calculating to the preliminary attitude orientation that attitude algorithm module obtains, and obtains posture
Correct data in orientation；
The attitude orientation amendment data of more than the benchmark comparison module one cycle T are passed through as reference data by main control module
Data-processing interface obtains the attitude orientation amendment data that monitored attitude monitoring module obtains and is compared with reference data
It is right, it is determined whether video camera 4 is overturn, perhaps determines whether to carry out attitude rectification or determine whether to video camera 4
Whether attitude rectification is carried out while overturning.
Among the above, the data collecting card is connect with gyroscope and acceleration transducer respectively, the data collecting card
It is connect with attitude algorithm module, the attitude algorithm module is connect with attitude monitoring module, the attitude monitoring module and control
Device connection, the host computer are connect by wireless receiving module with controller, and the controller passes through motor drive module and turns over
Rotating motor 36 connects.
Among the above, the tilt rotation component includes tilt rotation frame 3, and setting is in 3 inside two of tilt rotation frame
The overturning motor 36 of side overturns and is provided with rotation connecting shaft 33 on motor 36, rotates and is provided with rotation adjusting ruler in connecting shaft 33
32, which, which is adjusted, is provided with the equivalent rotation adjustment hole of spacing on ruler 32, rotates and is provided with rotation adjusting rod 31 in adjustment hole,
One end of the rotation adjusting rod 31 is connected to 51 on the upper junction plate of 5 upper end of camera mount setting, wherein the rotation connection
Anticollision pedestal 35 is provided between axis 33 and tilt rotation frame 3, which will rotate connecting shaft 33 to tilt rotation
3 outer end of frame protrusion, prevents from contacting with camera mount 5, and the bottom of the tilt rotation frame 3 is provided with tilt rotation connection
The lower connecting plate 50 of plate 34, the tilt rotation connecting plate 34 and the setting of 5 bottom of camera mount is hinged.
Among the above, the rotational angle of the tilt rotation frame 3 is 0~180 °, and on the top of tilt rotation frame 3
Limit plate 30 is arranged in front and back middle section.The upper and lower ends of 5 middle section of camera mount are respectively arranged with limited block 52,
The limited block 52 is matched with limit plate 30.
Due to mountainous areas or the region on more highlands, flight can not be able to satisfy relatively flat steady flight, therefore be difficult to protect
Card video camera 4 keeps a certain angle correctly to obtain data, and therefore, the present invention provides an overturning motors 36, by imaging
The gyroscope and acceleration transducer of 4 settings, the real time data of gyroscope and acceleration transducer is acquired using capture card on machine,
Preliminary attitude orientation is obtained by attitude algorithm module, then its attitude orientation is obtained by attitude monitoring module and corrects data, with
The attitude orientation amendment data of a upper cycle T are obtained by data-processing interface by main control module and are monitored as reference data
The obtained attitude orientation amendment of attitude monitoring module data and be compared with reference data, it is determined whether Yao Jinhang posture is repaired
Just, or determine whether to overturn video camera.The present invention carries out the posture of flight real by the monitoring to flight attitude
When amendment, and the flight for overturning certain angle, allowing to keep relative stability is carried out to video camera.
When carrying out overturning motor control, overturning motor rotation is driven by main control module driving motor drive module,
The angle of rotation and the attitude orientation amendment data of acquisition are consistent.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (8)
1. a kind of oblique photograph aerial surveying camera system, which is characterized in that including
One inclination aerial surveying camera and control system,
The inclination aerial surveying camera includes holder, and the support plate on holder top is arranged in, and the controller in portion on the supporting plate is arranged, if
The host computer in support plate lower part is set, and the bottom of holder is provided with tilt rotation component, is arranged in tilt rotation component
On video camera, be embedded with gyroscope and acceleration transducer on the video camera,
The control system includes data collecting card, attitude algorithm module and attitude monitoring module,
Main control module and benchmark comparison module are provided in the controller,
The data collecting card acquires the real time data of gyroscope and acceleration transducer according to period of time T；
The attitude algorithm module loads parameter and configuration data capture card from the database of setting, reads in data collecting card
Two kinds of separate storages real time data, and two bursts of analog signals are converted by the real time data of two kinds of separate storages, through too low
Bandpass filter and high-pass filter merge two bursts of analog signals, obtain the preliminary of inclination aerial surveying camera using analog simulation
Attitude orientation；
The attitude monitoring module is called attitude algorithm module by data-processing interface by main control module, and according to setting
The monitoring parameters configuration for setting module setting carries out secondary calculating to the preliminary attitude orientation that attitude algorithm module obtains, and obtains posture
Correct data in orientation；
The attitude orientation amendment data of more than the benchmark comparison module one cycle T are passed through as reference data by main control module
Data-processing interface obtains the attitude orientation amendment data that monitored attitude monitoring module obtains and is compared with reference data
It is right, it is determined whether video camera is overturn, perhaps determine whether to carry out attitude rectification or determine whether to video camera into
Whether attitude rectification is carried out while row overturning.
2. oblique photograph aerial surveying camera system according to claim 1, which is characterized in that the data collecting card respectively with top
Spiral shell instrument is connected with acceleration transducer, and the data collecting card is connect with attitude algorithm module, the attitude algorithm module and appearance
The connection of state monitoring module, the attitude monitoring module are connect with controller.
3. oblique photograph aerial surveying camera system according to claim 1, which is characterized in that the tilt rotation component includes inclining
The overturning motor of tilt rotation lower portion two sides is arranged in tiltedly rotation frame, overturns and is provided with rotation connecting shaft on motor, revolves
Turn to be provided with rotation adjusting ruler in connecting shaft, which adjusts and is provided with the equivalent rotation adjustment hole of spacing on ruler, and rotation is adjusted
Rotation adjusting rod is provided in hole, one end of the rotation adjusting rod is connected on the upper junction plate of camera mount upper end setting,
The bottom of the tilt rotation frame is provided with tilt rotation connecting plate, which sets with camera mount bottom
The lower connecting plate set is hinged.
4. oblique photograph aerial surveying camera system according to claim 3, which is characterized in that the rotation connecting shaft and inclination turn
Be provided with anticollision pedestal between dynamic frame, which connects axial tilt rotation frame outer end protrusion for rotation, prevent with
Camera mount contact.
5. oblique photograph aerial surveying camera system according to claim 3, which is characterized in that the rotation of the tilt rotation frame
Angle is 0~180 °, and limit plate is arranged in middle section before and after the top of tilt rotation frame.
6. oblique photograph aerial surveying camera system according to claim 3, which is characterized in that the camera mount middle section
Upper and lower ends be respectively arranged with limited block, which matches with limit plate.
7. oblique photograph aerial surveying camera system according to claim 1, which is characterized in that the middle section of the holder is arranged
There is a mounting plate, the tilt rotation component setting is on a mounting board.
8. oblique photograph aerial surveying camera system according to claim 1, which is characterized in that the host computer passes through wireless receiving
Module is connect with controller, and the controller is connect by motor drive module with overturning motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811468539.4A CN109634292B (en) | 2018-12-03 | 2018-12-03 | Oblique photography aerial photography instrument system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811468539.4A CN109634292B (en) | 2018-12-03 | 2018-12-03 | Oblique photography aerial photography instrument system |
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| Publication Number | Publication Date |
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| CN109634292A true CN109634292A (en) | 2019-04-16 |
| CN109634292B CN109634292B (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811468539.4A Expired - Fee Related CN109634292B (en) | 2018-12-03 | 2018-12-03 | Oblique photography aerial photography instrument system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111654634A (en) * | 2020-06-24 | 2020-09-11 | 杭州海康威视数字技术股份有限公司 | Method for determining inclination of engine core assembly and pan-tilt assembly in camera and camera |
| CN112644726A (en) * | 2021-01-12 | 2021-04-13 | 贵州理工学院 | Structure and method of oblique photography three-axis pan-tilt device for power delta wing |
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| CN112644726B (en) * | 2021-01-12 | 2022-07-05 | 贵州理工学院 | Structure and method of oblique photography three-axis pan-tilt device for power delta wing |
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| Publication number | Publication date |
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| CN109634292B (en) | 2022-04-29 |
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Denomination of invention: An oblique photography aerial camera system Effective date of registration: 20220919 Granted publication date: 20220429 Pledgee: Guangdong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUOTU GEO SURVEY GEOGRAPHIC INFORMATION Co.,Ltd. Registration number: Y2022980015617 |
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